def RPY(cls, angles, order='zyx', unit='rad'):
"""
Create an SO(3) pure rotation from roll-pitch-yaw angles
:param angles: 3-vector of roll-pitch-yaw angles
:type angles: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param unit: rotation order: 'zyx' [default], 'xyz', or 'yxz'
:type unit: str
:return: 4x4 homogeneous transformation matrix
:rtype: SE3 instance
``SE3.RPY(ANGLES)`` is an SE(3) rotation defined by a 3-vector of roll, pitch, yaw angles :math:`(r, p, y)`
which correspond to successive rotations about the axes specified by ``order``:
- 'zyx' [default], rotate by yaw about the z-axis, then by pitch about the new y-axis,
then by roll about the new x-axis. Convention for a mobile robot with x-axis forward
and y-axis sideways.
- 'xyz', rotate by yaw about the x-axis, then by pitch about the new y-axis,
then by roll about the new z-axis. Covention for a robot gripper with z-axis forward
and y-axis between the gripper fingers.
- 'yxz', rotate by yaw about the y-axis, then by pitch about the new x-axis,
then by roll about the new z-axis. Convention for a camera with z-axis parallel
to the optic axis and x-axis parallel to the pixel rows.
If ``angles`` is an Nx3 matrix then the result is a sequence of rotations each defined by RPY angles
correponding to the rows of angles.
:seealso: :func:`~spatialmath.pose3d.SE3.rpy`, :func:`~spatialmath.pose3d.SE3.RPY`, :func:`spatialmath.base.transforms3d.rpy2r`
"""
if argcheck.isvector(angles, 3):
return cls(tr.rpy2tr(angles, order=order, unit=unit))
else:
return cls([tr.rpy2tr(a, order=order, unit=unit) for a in angles])
def RPY(cls, *angles, unit='rad', order='zyx'):
r"""
Create an SE(3) pure rotation from roll-pitch-yaw angles
:param 𝚪: roll-pitch-yaw angles
:type 𝚪: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param order: rotation order: 'zyx' [default], 'xyz', or 'yxz'
:type order: str
:return: SE(3) matrix
:rtype: SE3 instance
- ``SE3.RPY(𝚪)`` is an SE(3) rotation defined by a 3-vector of roll,
pitch, yaw angles :math:`\Gamma=(r, p, y)` which correspond to
successive rotations about the axes specified by ``order``:
- ``'zyx'`` [default], rotate by yaw about the z-axis, then by pitch about the new y-axis,
then by roll about the new x-axis. This is the **convention** for a mobile robot with x-axis forward
and y-axis sideways.
- ``'xyz'``, rotate by yaw about the x-axis, then by pitch about the new y-axis,
then by roll about the new z-axis. This is the **convention** for a robot gripper with z-axis forward
and y-axis between the gripper fingers.
- ``'yxz'``, rotate by yaw about the y-axis, then by pitch about the new x-axis,
then by roll about the new z-axis. This is the **convention** for a camera with z-axis parallel
to the optical axis and x-axis parallel to the pixel rows.
If ``𝚪`` is an Nx3 matrix then the result is a sequence of rotations each defined by RPY angles
corresponding to the rows of ``𝚪``.
- ``SE3.RPY(⍺, β, 𝛾)`` as above but the angles are provided as three
scalars.
Example:
.. runblock:: pycon
>>> from spatialmath import SE3
>>> SE3.RPY(0.1, 0.2, 0.3)
>>> SE3.RPY([0.1, 0.2, 0.3])
>>> SE3.RPY(0.1, 0.2, 0.3, order='xyz')
>>> SE3.RPY(10, 20, 30, unit='deg')
:seealso: :func:`~spatialmath.pose3d.SE3.rpy`, :func:`~spatialmath.base.transforms3d.rpy2r`
:SymPy: supported
"""
if len(angles) == 1:
angles = angles[0]
if base.isvector(angles, 3):
return cls(base.rpy2tr(angles, order=order, unit=unit),
check=False)
else:
return cls(
[base.rpy2tr(a, order=order, unit=unit) for a in angles],
check=False)